{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import gym\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "\n",
    "# 定义PID控制器\n",
    "class PIDController:\n",
    "    def __init__(self, kp, ki, kd):\n",
    "        self.kp = kp\n",
    "        self.ki = ki\n",
    "        self.kd = kd\n",
    "        self.p_error = 0.0\n",
    "        self.i_error = 0.0\n",
    "        self.d_error = 0.0        \n",
    "    def update(self, error, dt):\n",
    "        self.d_error = (error - self.p_error) / dt\n",
    "        self.i_error += error * dt\n",
    "        self.p_error = error        \n",
    "        return self.kp*self.p_error + self.ki*self.i_error + self.kd*self.d_error\n",
    "\n",
    "# 定义强化学习环境\n",
    "class PIDEnv(gym.Env):\n",
    "    def __init__(self):\n",
    "        self.observation_space = gym.spaces.Box(low=-np.inf, high=np.inf, shape=(1,), dtype=np.float32)\n",
    "        self.action_space = gym.spaces.Box(low=-0.1, high=0.1, shape=(1,), dtype=np.float32)\n",
    "        self.controller = PIDController(kp, ki, kd)   \n",
    "    def step(self, action):\n",
    "        reward = 0.0\n",
    "        done = False        \n",
    "        # 计算控制器输出并更新状态\n",
    "        control_output = self.controller.update(action[0], 0.1)\n",
    "        #print(\"control_output:\",control_output,self.controller.p_error,self.controller.i_error,self.controller.d_error ,action[0])\n",
    "        observation = np.array([control_output])   #观测值     \n",
    "        # 计算奖励\n",
    "        if abs(control_output)<0.1:\n",
    "            reward = 1.0   #奖励     \n",
    "        # 判断是否结束\n",
    "        if abs(control_output) == -5.0:\n",
    "            done = True        \n",
    "        return observation, reward, done, control_output,{}\n",
    "    def reset(self):\n",
    "        self.controller = PIDController(kp, ki, kd)\n",
    "        return np.array([0.0])\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [],
   "source": [
    "kp = 0.000001\n",
    "ki = 0.000001\n",
    "kd = 0.000001\n",
    "# 迭代次数和最大时间步长\n",
    "num_episodes = 100\n",
    "max_steps = 100\n",
    "max_steps2 = 1000\n",
    "# 训练PID控制器\n",
    "env = PIDEnv()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Control output: 5.0499999999999296e-05 0.5 49.9999999999993 0.0 len: 1000\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "z=[]\n",
    "t1 = range(max_steps2)\n",
    "for i in range(num_episodes):\n",
    "    observation = env.reset() \n",
    "    for t in range(max_steps):\n",
    "        action = env.action_space.sample()\n",
    "        observation, reward, done, control_output, _ = env.step(action)\n",
    "        #if(len(z)<100):\n",
    "        #      z.append( control_output)      \n",
    "        if done:\n",
    "            break\n",
    "# 测试PID控制器\n",
    "observation = env.reset()\n",
    "for t in range(max_steps2):\n",
    "    action = np.array([0.5])\n",
    "    observation, reward, done,control_output, _ = env.step(action)\n",
    "    z.append( control_output)\n",
    "    if done:\n",
    "        break\n",
    "print(\"Control output:\" , observation[0] , env.controller.p_error , env.controller.i_error , env.controller.d_error,\"len:\",len(z))\n",
    "plt.figure(figsize=(8,6), dpi = 80)\n",
    "plt.plot(t1,z,color=\"blue\",linewidth=1.0,linestyle=\"-\")\n",
    "plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "10000"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(z)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "plt.figure(figsize=(8,6), dpi = 80)\n",
    "plt.plot(t1,z,color=\"blue\",linewidth=1.0,linestyle=\"-\")\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 3 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 3 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.11"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
